Three-arm parallel manipulator with closed kinematic Delta type chain of three degrees of freedom

• 1. 一种具有三个平移自由度的单环并联操作手 [P] . 中国专利： CN110900576A . 2020-03-24
• 2. 一种具有弧形移动副的三支链六自由度并联机构 [P] . 中国专利： CN106903673B . 2019.06.28
• 3. Three-arm parallel manipulator with closed kinematic Delta type chain of three degrees of freedom [P] . PL394237A1 . 2011-09-12

  机译： 具有三个自由度的闭合运动型Delta链的三臂并联机械手

• 4. PARALLEL ROBOT WITH TWO DEGREES OF FREEDOM HAVING TWO KINEMATIC CHAINS WITH MAXIMIZED FLEXURE STIFFNESS [P] . 美国专利： US20140020500A1 . 2014-01-23

  机译： 具有两个自由度的并行机器人具有两个最大挠曲刚度的运动链

• 5. Robot has two parallel degrees of freedom having two chains kinematic, the flexural stiffness ets maximized [P] . 法国专利： FR2967603B1 . 2013-06-21

  机译： 机器人具有两个平行的自由度，具有两个运动学链，弯曲刚度最大化

• 1. Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator [J] . LIU Shan-zeng, ZHU Zhen-cai, SUN Zhao-peng, 中南大学学报（英文版） . 2014,第007期
• 2. A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator [J] . Song Guoli, Su Shun, Li Yingli, Robotica . 2021,第4期
• 3. Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains [J] . Johnson Andrew, Kong Xianwen, Ritchie James Journal of Mechanisms and Robotics: Transactions of the ASME . 2016,第2期
• 4. SYNTHESIS OF A NOVEL FIVE-DEGREES–OF-FREEDOM PARALLEL KINEMATIC MANIPULATOR [J] . W.E.Dharmalingum, J.Padayachee, G.Bright South African journal of industrial engineering . 2021,第1期
• 5. Modeling of Static Friction in Closed-Loop Kinematic Chains with Multiple Degrees of Freedom - A Study of Uniqueness and Parametric Sensitivity Problems [C] . Marek Wojtyra CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators . 2019
• 6. Simulated and experimental kinematic calibration of a 4 degrees of freedom parallel manipulator [D] . Horne, Andrew. 2013
• 7. Kinematic Analysis of a Six-Degrees-of-Freedom Model Based on ISB Recommendation: A Repeatability Analysis and Comparison with Conventional Gait Model [O] . Magdalena Żuk, Celina Pezowicz 2015
• 8. The Inverse Kinematic Problem Solution for the Slider-crank Mechanism-based Parallel Structure Manipulator with Three Degrees of Freedom [O] . A. V. Romanov, V. N. Paschenko 2015
• 9. Development of Kinematic Equations and Determination of Workspace of a 6 DOF (Degree-of-Freedom) End-Effector with Closed-Kinematic Chain Mechanism [R] . Nguyen, C. C., Pooran, F. J. 1989

• 1. Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator [J] . 刘善增 ,朱真才 ,孙肇鹏 . 中南大学学报 . 2014,第007期
• 2. Comparison of Parallel Kinematic Machines with Three Translational Degrees of Freedom and Linear Actuation [J] . PRAUSE Isabel ,CHARAF EDDINE Sami ,CORVES Burkhard . 中国机械工程学报 . 2015,第004期
• 3. Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes [J] . XU Yundou ,ZHANG Dongsheng ,WANG Min . 中国机械工程学报 . 2016,第004期
• 4. Three-degree-of-freedom Parallel Manipulator to Track the Sun for Concentrated Solar Power Systems [J] . ASHITHSHYAM R B ,GHOSAL A . 中国机械工程学报 . 2015,第004期
• 5. 新型三支链六自由度并联机构及运动学分析 [C] . DU Hui ,杜惠 ,PAN Yang . 中国机构与机器科学应用国际会议（2013 CCAMMS） . 2013
• 6. 四自由度Delta并联机械手结构与控制系统研究 [A] . 童明浩 . 2016